CN110236560A - Six axis attitude detecting methods of intelligent wearable device, system - Google Patents
Six axis attitude detecting methods of intelligent wearable device, system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
- A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
Abstract
The invention discloses a kind of six axis attitude detecting methods of intelligent wearable device, system, the method is applied to six axis attitude detection systems of intelligent wearable device, the described method comprises the following steps: obtaining the motion profile of each characteristic point in user movement posture；The motion profile of all characteristic points is synthesized to the motion profile of the mass motion posture of user；The motion profile of the mass motion posture of the user is sent to back-stage management terminal, realizes long-range communication and interconnection between manager and labour user.Compared with the existing technology, the present invention improves the working efficiency of user and the efficiency of management of manager.
Description
Technical field
The present invention relates to intelligent wearable device technical field more particularly to a kind of six axis attitude detections of intelligent wearable device
Method, system.
Background technique
Currently, in some local work, the working condition of worker cannot get when sanitationman's working condition is relatively dissipated
Understand, when manager arranges work, to arrive scene and understand the working condition of worker, then arrange work, certain working sites are from pipe
It is remote to manage office's distance, after worker completes a certain work, cannot get other job placements instruction, need to administrative office to carry out
It solves or receives an assignment, the efficiency of management of work task efficiency and manager are very low.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of six axis attitude detecting methods of intelligent wearable device, system
And storage medium.
To achieve the above object, the present invention provides a kind of six axis attitude detecting methods of intelligent wearable device, the method
Applied to six axis attitude detection systems of intelligent wearable device, the described method comprises the following steps:
Obtain the motion profile of each characteristic point in user movement posture；
The motion profile of all characteristic points is synthesized to the motion profile of the mass motion posture of user；
The motion profile of the mass motion posture of the user is sent to back-stage management terminal.
Further technical solution of the invention is that the motion profile by the molar behavior is sent to background terminal
The step of after further include:
The work of user is obtained according to the motion profile of the mass motion posture of the user by the back-stage management terminal
State, and user is managed according to the working condition.
Further technical solution of the invention is the motion profile for obtaining each characteristic point in user movement posture
The step of include:
Each characteristic point moment is obtained in user movement posture in X-direction, Y direction, the linear acceleration of Z-direction,
And the moment is in the angular acceleration of X-direction, Y direction, Z-direction；
Each characteristic point is obtained in the instantaneous attitude vector of the moment according to the linear acceleration, angular acceleration；
Instantaneous attitude Vector modulation by each characteristic point in all moments is the motion profile of each characteristic point.
Further technical solution of the invention is that the motion profile by all characteristic points synthesizes the entirety of user
Include: before the step of motion profile of athletic posture
Identification is optimized using motion profile of the intensive Trajectory Arithmetic to each characteristic point in the user movement posture,
The motion profile of each characteristic point after being optimized；
The motion profile by all characteristic points synthesizes the step of motion profile of the mass motion posture of user packet
It includes:
The motion profile of all characteristic points after optimization is synthesized to the motion profile of the mass motion posture of user.
To achieve the above object, the present invention also proposes a kind of six axis attitude detection systems of intelligent wearable device, the system
System includes three-axis gyroscope, and 3-axis acceleration sensor is communicated to connect with the three-axis gyroscope, 3-axis acceleration sensor
Microcontroller, the microcontroller are connect with back-stage management terminal and memory, processor, are stored in by communication module
Human action data library on the memory, six axis attitude detection programs of the intelligent wearable device are by the microcontroller
It is performed the steps of when operation
The fortune of each characteristic point in user movement posture is obtained by the three-axis gyroscope and 3-axis acceleration sensor
Dynamic rail mark；
The motion profile of all characteristic points is synthesized to the movement of the mass motion posture of user by the microcontroller
Track；
The motion profile of the mass motion posture of the user is sent to back-stage management terminal by the controller.
Further technical solution of the invention is that six axis attitude detection programs of the intelligent wearable device are by described micro-
Controller also performs the steps of when running
The work of user is judged according to the motion profile of the mass motion posture of the user by the back-stage management terminal
State, and user is managed according to the working condition.
Further technical solution of the invention is that six axis attitude detection programs of the intelligent wearable device are by described micro-
Controller also performs the steps of when running
Existed by each characteristic point moment in the 3-axis acceleration sensor, three-axis gyroscope acquisition user movement posture
X-direction, Y direction, the linear acceleration of Z-direction and the moment accelerate at the angle of X-direction, Y direction, Z-direction
Degree；
Each characteristic point is obtained in the moment of the moment according to the linear acceleration, angular acceleration by the microcontroller
Orientation vector；
Instantaneous attitude Vector modulation by the microcontroller by each characteristic point in all moments is each characteristic point
Motion profile.
Further technical solution of the invention is that six axis attitude detection programs of the intelligent wearable device are by described micro-
Controller also performs the steps of when running
By the controller using intensive Trajectory Arithmetic to the movement rail of each characteristic point in the user movement posture
Mark optimizes identification, the motion profile of each characteristic point after being optimized；
The motion profile of all characteristic points after optimization is synthesized to the mass motion appearance of user by the microcontroller
The motion profile of state.
The motion trace data of the processing of the attitude data and operation of intelligent wearable device acquisition described above is transferred to meter
On calculation machine storage medium, human action attitude data library is established.
To achieve the above object, the present invention also proposes a kind of computer readable storage medium, the computer-readable storage medium
The preliminary attitude mode database of human body is stored in matter, the data of intelligent wearable device acquisition, which are transmitted, is stored in readable storage medium storing program for executing
On, and human body attitude model database is constantly improve, six axis attitude detection programs of the intelligent wearable device are by microcontroller
The step of realizing method as described above when operation, communication module transmission, back-end data processing.
The beneficial effects of the present invention are: six axis attitude detecting methods of intelligent wearable device of the present invention, system and storage are situated between
Matter is through the above technical solutions, obtain the motion profile of each characteristic point in user movement posture；By the movement of all characteristic points
Track synthesizes the motion profile of the mass motion posture of user；The motion profile of the mass motion posture of the user is sent
To back-stage management terminal, the communication interconnection between manager and labourer user is established, the working efficiency and pipe of user are improved
The efficiency of management of reason person.
Detailed description of the invention
Fig. 1 is the flow diagram of six axis attitude detecting method first embodiments of intelligent wearable device of the present invention；
Fig. 2 is the flow diagram of six axis attitude detecting method second embodiments of intelligent wearable device of the present invention；
Fig. 3 is the refinement stream of step S10 in six axis attitude detecting method second embodiments of intelligent wearable device of the present invention
Journey schematic diagram；
Fig. 4 is the flow diagram of six axis attitude detecting method 3rd embodiments of intelligent wearable device of the present invention；
Fig. 5 is the schematic illustration of single-point attitude system；
Fig. 6 is the algorithm flow schematic diagram that action recognition is carried out using intensive Trajectory Arithmetic；
Fig. 7 is each space scale intensive sampling schematic diagram；
Fig. 8 is feature point description building flow chart；
Fig. 9 is the system framework figure of six axis attitude detection systems of intelligent wearable device.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Fig. 1 is please referred to, Fig. 1 is that the process of six axis attitude detecting method preferred embodiments of intelligent wearable device of the present invention is shown
It is intended to.
As shown in Figure 1, in the present embodiment, method includes the following steps:
Step S10 obtains the motion profile of each characteristic point in user movement posture.
It should be noted that the present invention is applied to six axis attitude detection systems of intelligent wearable device, six axis posture inspection
Examining system detects human body single-point posture using attitude transducer.
Attitude transducer is the high performance three-dimensional motion attitude measuring system based on MEMS technology.It includes three axis accelerometer
Instrument, three axis accelerometer (i.e. IMU), the synkinesias sensor such as three axle electronic compass pass through embedded low-power consumption arm processor
The angular speed calibrated, acceleration are exported, magnetic data etc. carries out athletic posture by the sensing data algorithm based on quaternary number
Measurement, exports the zero shift 3 d pose data indicated with quaternary number, Eulerian angles etc. in real time.
The motion profile of all characteristic points is synthesized the motion profile of the mass motion posture of user by step S20.
It is understood that since human body attitude acts the motion profile movement of not Codes and Standards, this implementation
Example integrates human body decomposing trajectories at the motion profile of many points, and the motion profile of a single point resolves into this o'clock at one section
The vector integration of time point instantaneous attitude vector.
In obtaining user movement posture after the motion profile of each characteristic point, then the motion profiles of all characteristic points closed
The motion profile of mass motion posture as user.
The motion profile of the mass motion posture of the user is sent to back-stage management terminal by step S30.
In the present embodiment, the back-stage management terminal for example can be the intelligent terminals such as mobile phone, PC, Ipad, and the intelligence is eventually
End is communicated to connect with intelligent wearable device.
It should be noted that six axis attitude detecting methods of intelligent wearable device of the present invention can be used for the dynamic of worker's labour
It identifies, labourer wears the intelligent wearable device of this scheme, can collect the attitude data of labourer's movement, and data pass through
Region Bluetooth system is transparent in background PC computer, passes information to manager, and manager judges work according to the movement of labourer
People's labour situation, to carry out the instruction push of other work according to actual work and arrange.
The present embodiment is through the above technical solutions, obtain the motion profile of each characteristic point in user movement posture as a result,；
The motion profile of all characteristic points is synthesized to the motion profile of the mass motion posture of user；By the mass motion of the user
The motion profile of posture is sent to back-stage management terminal, can improve the working efficiency of user and the efficiency of management of manager.
Further, referring to figure 2., the six axis attitude detecting method first embodiments based on intelligent wearable device of the present invention
It is proposed six axis attitude detecting method second embodiments of intelligent wearable device of the present invention.
In the present embodiment, the motion profile of the mass motion posture of the user is sent to backstage by above-mentioned steps S30
After the step of management terminal further include:
Step 40, user is obtained according to the motion profile of the mass motion posture of the user by the back-stage management terminal
Working condition, and user is managed according to the working condition.
For example, getting user according to the motion profile of the mass motion posture of the user in the back-stage management terminal
When being currently at resting state, then the instruction for arranging other work can be sent to the user.Thus further increase user's
The efficiency of management of working efficiency and manager.
Further, referring to figure 3., Fig. 3 is step S10 in the present embodiment, obtains each feature in user movement posture
The refinement flow diagram of the motion profile of point.
As shown in figure 3, in the present embodiment, above-mentioned steps S10 the following steps are included:
Step S101 obtains in user movement posture each characteristic point moment in X-direction, Y direction, Z-direction
The angular acceleration of linear acceleration and the moment in X-direction, Y direction, Z-direction.
When it is implemented, can be using each characteristic point moment in acceleration transducer acquisition user movement posture in X-axis
Direction, Y direction, the linear acceleration of Z-direction and the moment accelerate at the angle of X-direction, Y direction, Z-direction
Degree.
Step S102 obtains instantaneous attitude of each characteristic point in the moment according to the linear acceleration, angular acceleration and swears
Amount.
Each characteristic point moment accelerates in the line of X-direction, Y direction, Z-direction in getting user movement posture
Degree and the moment X-direction, Y direction, Z-direction angular acceleration after, further according to the linear acceleration, angle accelerate
Degree obtains each characteristic point in the instantaneous attitude vector of the moment.
Step S103, the instantaneous attitude Vector modulation by each characteristic point in all moments are the movement rail of each characteristic point
Mark.
Each characteristic point is being got after the instantaneous attitude vector of the moment, then by each characteristic point in all moments
Instantaneous attitude Vector modulation is the motion profile of each characteristic point.
Further, referring to figure 4., the six axis attitude detecting method first embodiments based on intelligent wearable device of the present invention
It is proposed six axis attitude detecting method 3rd embodiments of intelligent wearable device of the present invention.
In the present embodiment, the motion profile of all characteristic points is synthesized the mass motion posture of user by above-mentioned steps S20
Motion profile the step of before include:
Step S201 is carried out using motion profile of the intensive Trajectory Arithmetic to each characteristic point in the user movement posture
Statistical error, the motion profile of each characteristic point after being optimized.
The motion profile of all characteristic points is synthesized the motion profile of the mass motion posture of user by above-mentioned steps S20
The step of include:
The motion profile of all characteristic points after optimization is synthesized the movement of the mass motion posture of user by step S202
Track.
Six axis attitude detecting methods of intelligent wearable device of the present invention are further described in detail below.
Present invention generally provides the synthetic methods of a kind of detection method of gesture recognition and attitude data acquisition, posture.
Since human body attitude acts the motion profile movement of not Codes and Standards, the present invention divides human body track
Solution at many points motion profile it is integrated, the motion profile of a single point, which resolves into this point, puts instantaneous attitude in a period of time
The vector integration of vector.A single point moment vector attitude measurement method is the movement resolution of vectors of some moment single-point into space three
A acceleration and three angular acceleration vectors.
The method that the present invention uses is to measure the point in some moment space X using the three-axis sensor of intelligent wearable device
Axis direction, Y direction, the vector acceleration data of Z-direction, using three-axis gyroscope measure this this moment and X-axis
Direction, Y direction, Z-direction angular acceleration vector, six Vector modulations, one movement moment vector, with pushing away for time
It moves, the movement moment vectorial combination of each moment becomes the vector locus of action movement.Intelligent wearable device is a certain by acquiring
The vector data and motion profile of a area intensive pattern point calculate the molar behavior with synthesized human.Act the data of vector
On the large database concept for passing to PC machine by the bluetooth transparent transmission in certain region, worker's labour status remote interconnection is realized.
By human body attitude movement decomposition at multiple human body single-points, each human body single-point is set using the intelligence wearing in the present invention
The identification of the standby motion profile posture for carrying out data acquisition and single-point, the movement posture of human body entirety is resolved into convenient for detection
Multiple single postures complete human body single-point appearance by carrying out several characteristic point data samplings and motion analysis to single-point posture
The identification of state or the movement of human body totality posture.
The present invention detects human body single-point posture, high-performance three of the attitude transducer based on MEMS technology using attitude transducer
Tie up motion attitude measuring system.It includes three-axis gyroscope, three axis accelerometer (i.e. IMU), the auxiliary such as three axle electronic compass fortune
Dynamic sensor exports the angular speed calibrated, acceleration, magnetic data etc., by being based on by embedded low-power consumption arm processor
The sensing data algorithm of quaternary number carries out athletic posture measurement, exports the zero shift indicated with quaternary number, Eulerian angles etc. in real time
3 d pose data.
For a referential in three-dimensional space, the orientation of any coordinate system can be with three Eulerian angles come table
It is existing.And coordinate system is then fixed on rigid body, rotates with the rotation of rigid body.The object of any position is by gravity on earth
It acting on and generates an acceleration, acceleration transducer can be used to measure variation or constant speed,
The method of single-point gesture recognition of the present invention: moment point posture is decomposed into six vectors, the acceleration of three, space
Spend direction and three angular acceleration directions, the orientation vector of six Vector modulation moments point.In the state of opposing stationary, when
When gestures of object changes, the sensitive axes of acceleration transducer change relative to gravity, three sensitive axes of acceleration transducer
The gravitational cue that output gravity generates in its corresponding direction respectively.When system is in variable motion state, due to acceleration
Sensor is influenced by acceleration of gravity and system self-acceleration simultaneously, and return value is acceleration of gravity homologous ray itself
The vector sum of acceleration.Gyroscope is capable of providing the dynamic angle variation of moment, sees the principle of Fig. 5 single-point attitude system.
1, single-point posture principle
Acceleration information acquisition and processing, controller obtain 3-axis acceleration G from acceleration transducer acquisitionX、GY、GZIt is quiet
When only, the vector sum of system 3-axis acceleration is gravitational vectorsIt can obtain:
To vectorIt is normalized:
Obtain normalization gravity direction vector
Gravitational vectors can be obtained with the angle theta of coordinate system axis by normalized vector directionX、θY、θZ
System obtains system rotational angular velocity w from gyroscopeX、wY、wZ, obtain the rotational angle of system, sampling time interval
For △ T:
By the estimated value of the acceleration of last momentCurrent time can be obtained with current operation angular speed
Another valuation of gravitational vectorsIt is obtained using formula 3:
By 4 formula formula,
It can obtain
It can similarly obtain:
Wherein θX、θY、θZIt is previous moment gravitational vectors with the angle and system rotational angle △ θ of reference axisX、△θY、△
θZThe sum of.
Gravitational vectors is
Data Fusion of Sensor
The gravitational vectors at current timeBy the current acceleration of gravity vector obtained from acceleration transducerWithWeighted average obtains
Wherein W is gyroscope weight.
2, the action identification method based on intensive track when single-point track is integrated:
After each wink action data of human body single-point acquiring, human body single-point transient posture is formed, when single-point transient posture moves
Over time, human body single-point forms an attitude motion curve, thus the posture movement being formed in certain time.It adopts
With the optimization movement posture identification of intensive track approach.Intensive track approach algorithm frame mainly includes intensive sampling characteristic point, spy
Locus of points tracking, trajectory-based feature extraction, feature coding, classifier classification are levied, carries out action recognition using intensive track
Algorithm flow it is as shown in Figure 6.
Intensive sampling: intensive sampling characteristic point is specifically divided into the following steps: action process is divided into multiple spaces
Scale, on each space scale by way of grid dividing intensive sampling characteristic point, as shown in Figure 7；Except some shortages become
The characteristic point that can not be tracked changed, by calculating the characteristic value of each point autocorrelation matrix, removal is lower than the characteristic point of some threshold value；
These characteristic points are tracked in time series, to form track.
Track is formed to the tracking of characteristic point, tracking is carried out in optical flow field in advance, iterative equation are as follows:
Pt+1=(xt+1,yt+1)=(xt,yt)+(M*wt)(x′t,y′t)
Pt+1For the characteristic point of t+1 frame, M is median filter, wtNumerical value is corresponded to for optical flow field.Wherein wt=(ut,vt)
For intensive optical flow field, u and v respectively represent the horizontal and vertical component of light stream.And M then represents median filter.Therefore the formula is
The direction of motion of characteristic point is obtained by calculating the light stream middle finger in feature vertex neighborhood.(xt′,yt') it is (xt,yt) it is close
Like position.
Position of some characteristic point on continuous L frame space scale constitutes one section of track, (Pt,Pt+1,...,
Pt+L)(Pt,Pt+1,...,Pt+L), subsequent feature extraction is carried out along each track.Because there is drift in the tracking of characteristic point
Move phenomenon, thus prolonged tracking be it is insecure, so every L frame will characteristic point of intensive sampling again, re-start with
Track.
In addition, track itself also may be constructed trajectory shape Feature Descriptor.The track for being L for a length, shape
Shape can use (△ Pt,△Pt+1,...,△pt+L-1)(△Pt,△Pt+1,...,△pt+L-1) describe, after carrying out regularization just
Available track characteristic description.Regularization mode be in order to overcome track drifting problem, describe track shape when,
Move expression formula in relative position are as follows:
△Pt=(Pt+1-Pt)=(xt+1-xt,yt+1-yt)
Wherein the displacement vector of track is (Xt+1-Xt,Yt+1-Yt)(Xt+1-Xt,Yt+1-Yt)
Final normalized trajectory shape retouches son are as follows:
Track neighborhood is divided into smaller subspace, HOG (description static nature) then is constructed to every sub-spaces,
HOF (characteristic point absolute movement feature), MBH (characteristic point relative motion feature), whole feature point extraction to description son building
Flow chart is as shown in Figure 8.
In the present invention, data of the human body monomer single-point posture after microcontroller optimization is corrected are logical by wireless module
Road transfers data to cloud platform, and cloud platform receives data and draws out the 3D motion curve of single-point posture according to data, this is bent
The basis that line is moved as human body attitude.
STM32 micro controller of the attitude detection system based on ARM CortexM3 kernel is control core, for adopting for data
Collection, processing and transmission.After gyroscope and acceleration sensor test pose data, data, microcontroller are acquired by microcontroller
Data are carried out with the amendment of averaging low-pass wave and computing system attitude parameter.Pass through wireless signal path after Data Fusion
It is transferred to cloud platform and carries out posture processing.As shown in Fig. 9, in the present invention, gyroscope, acceleration transducer, microcontroller, filter
Involve the algorithm of Data Fusion of Sensor, wirelessly penetrate module and belong to intelligent wearable device.After intelligent wearable device acquires data, lead to
It crosses wireless transmitter module and data is transmitted into output, after wireless module receiving device receives data, somatic data is transferred to PC
It is shown on machine, PC machine restores human body attitude.
In conclusion six axis attitude detecting methods of intelligent wearable device of the present invention are used through the above technical solutions, obtaining
The motion profile of each characteristic point in the athletic posture of family；The motion profile of all characteristic points is synthesized to the mass motion appearance of user
The motion profile of state；The motion profile of the mass motion posture of the user is sent to back-stage management terminal, improves user
Working efficiency and manager the efficiency of management.
To achieve the above object, the present invention also proposes a kind of six axis attitude detection systems of intelligent wearable device, feature
It is, the system comprises three-axis gyroscope, 3-axis acceleration sensor is sensed with the three-axis gyroscope, 3-axis acceleration
Device connection controller, the microcontroller by communication module connect with back-stage management terminal and memory, processor,
It is stored in six axis attitude detection programs of the intelligent wearable device on the memory, six axis postures of the intelligent wearable device
Detection program performs the steps of when being run by the microcontroller
The fortune of each characteristic point in user movement posture is obtained by the three-axis gyroscope and 3-axis acceleration sensor
Dynamic rail mark；
The motion profile of all characteristic points is synthesized to the movement of the mass motion posture of user by the microcontroller
Track；
The motion profile of the mass motion posture of the user is sent to back-stage management terminal by the microcontroller.
Six axis attitude detection programs of the intelligent wearable device also perform the steps of when being run by the microcontroller
The work of user is judged according to the motion profile of the mass motion posture of the user by the back-stage management terminal
State, and user is managed according to the working condition.
Six axis attitude detection programs of the intelligent wearable device also perform the steps of when being run by the microcontroller
Existed by each characteristic point moment in the three-axis gyroscope, 3-axis acceleration sensor acquisition user movement posture
X-direction, Y direction, the linear acceleration of Z-direction and the moment accelerate at the angle of X-direction, Y direction, Z-direction
Degree；
Each characteristic point is obtained in the moment of the moment according to the linear acceleration, angular acceleration by the microcontroller
Orientation vector；
Instantaneous attitude Vector modulation by the microcontroller by each characteristic point in all moments is each characteristic point
Motion profile.
Six axis attitude detection programs of the intelligent wearable device also perform the steps of when being run by the microcontroller
Movement of the intensive Trajectory Arithmetic to each characteristic point in the user movement posture is used by the microcontroller
Track optimizes identification, the motion profile of each characteristic point after being optimized；
The motion profile of all characteristic points after optimization is synthesized to the mass motion appearance of user by the microcontroller
The motion profile of state.
Six axis attitude detection systems of intelligent wearable device of the present invention are through the above technical solutions, pass through the three axis accelerometer
Instrument and 3-axis acceleration sensor obtain the motion profile of each characteristic point in user movement posture；It will by the microcontroller
The motion profile of all characteristic points synthesizes the motion profile of the mass motion posture of user；It will be described by the microcontroller
The motion profile of the mass motion posture of user is sent to back-stage management terminal, improves working efficiency and the manager of user
The efficiency of management.
To achieve the above object, the present invention also proposes a kind of computer readable storage medium, the computer-readable storage medium
Six axis attitude detection programs of intelligent wearable device, six axis attitude detection program quilts of the intelligent wearable device are stored in matter
The step of microcontroller realizes method described in embodiment as above when running, which is not described herein again.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure made by description of the invention and accompanying drawing content or process transformation, are applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of six axis attitude detecting methods of intelligent wearable device, which is characterized in that the method is applied to intelligence wearing and sets
Six standby axis attitude detection systems, the described method comprises the following steps:
Obtain the motion profile of each characteristic point in user movement posture；
The motion profile of all characteristic points is synthesized to the motion profile of the mass motion posture of user；
The motion profile of the mass motion posture of the user is sent to back-stage management terminal.
2. six axis attitude detecting methods of intelligent wearable device according to claim 1, which is characterized in that it is described will be described
After the step of motion profile of molar behavior is sent to background terminal further include:
The working condition of user is obtained according to the motion profile of the mass motion posture of the user by the back-stage management terminal,
And user is managed according to the working condition.
3. six axis attitude detecting methods of intelligent wearable device according to claim 2, which is characterized in that the acquisition is used
The step of motion profile of each characteristic point, includes: in the athletic posture of family
Obtain user movement posture in each characteristic point moment in X-direction, Y direction, the linear acceleration of Z-direction, and
Angular acceleration of the moment in X-direction, Y direction, Z-direction；
Each characteristic point is obtained in the instantaneous attitude vector of the moment according to the linear acceleration, angular acceleration；
Instantaneous attitude Vector modulation by each characteristic point in all moments is the motion profile of each characteristic point.
4. six axis attitude detecting methods of intelligent wearable device according to claim 1, which is characterized in that described to own
The motion profile of characteristic point synthesized before the step of motion profile of the mass motion posture of user
Identification is optimized using motion profile of the intensive Trajectory Arithmetic to each characteristic point in the user movement posture, is obtained
The motion profile of each characteristic point after optimization；
The motion profile by all characteristic points synthesizes the step of motion profile of the mass motion posture of user and includes:
The motion profile of all characteristic points after optimization is synthesized to the motion profile of the mass motion posture of user.
5. a kind of six axis attitude detection systems of intelligent wearable device, which is characterized in that the system comprises three-axis gyroscope, three
Axle acceleration sensor, the microcontroller connecting with the three-axis gyroscope, 3-axis acceleration sensor, the microcontroller are logical
Communication module is crossed to connect with back-stage management terminal and memory, processor, the intelligent wearable device for being stored in microcontroller
Six axis attitude detection programs, when six axis attitude detection programs of the intelligent wearable device are run by the microcontroller realize with
Lower step:
The movement rail of each characteristic point in user movement posture is obtained by the three-axis gyroscope and 3-axis acceleration sensor
Mark；
The motion profile of all characteristic points is synthesized to the motion profile of the mass motion posture of user by the microcontroller；
The motion profile of the mass motion posture of the user is sent to back-stage management terminal by the communication module.
6. six axis attitude detection systems of intelligent wearable device according to claim 5, which is characterized in that the intelligence is worn
It wears when six axis attitude detection programs of equipment are run by the microcontroller and also performs the steps of
The working condition of user is judged according to the motion profile of the mass motion posture of the user by the back-stage management terminal,
And user is managed according to the working condition.
7. six axis attitude detection systems of intelligent wearable device according to claim 6, which is characterized in that the intelligence is worn
It wears when six axis attitude detection programs of equipment are run by the microcontroller and also performs the steps of
By each characteristic point moment in the 3-axis acceleration sensor, three-axis gyroscope acquisition user movement posture in X-axis
The angular acceleration of direction, Y direction, the linear acceleration of Z-direction and the moment in X-direction, Y direction, Z-direction；
Each characteristic point is obtained in the instantaneous attitude of the moment according to the linear acceleration, angular acceleration by the microcontroller
Vector；
Instantaneous attitude Vector modulation by the microcontroller by each characteristic point in all moments is the fortune of each characteristic point
Dynamic rail mark.
8. six axis attitude detection systems of intelligent wearable device according to claim 5, which is characterized in that the intelligence is worn
It wears when six axis attitude detection programs of equipment are run by the microcontroller and also performs the steps of
By the microcontroller using intensive Trajectory Arithmetic to the motion profile of each characteristic point in the user movement posture
Identification is optimized, the motion profile of each characteristic point after being optimized；
The motion profiles of all characteristic points after optimization is synthesized to the mass motion posture of user by the microcontroller
Motion profile.
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